KR101793338B1 - 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치 - Google Patents

회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치 Download PDF

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Publication number
KR101793338B1
KR101793338B1 KR1020150162139A KR20150162139A KR101793338B1 KR 101793338 B1 KR101793338 B1 KR 101793338B1 KR 1020150162139 A KR1020150162139 A KR 1020150162139A KR 20150162139 A KR20150162139 A KR 20150162139A KR 101793338 B1 KR101793338 B1 KR 101793338B1
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KR
South Korea
Prior art keywords
output member
rigidity
rotating body
rigidity control
rotation
Prior art date
Application number
KR1020150162139A
Other languages
English (en)
Korean (ko)
Other versions
KR20160059985A (ko
Inventor
김광기
정현철
조창노
Original Assignee
국립암센터
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 국립암센터 filed Critical 국립암센터
Priority to JP2016575487A priority Critical patent/JP6166853B1/ja
Priority to EP15861568.2A priority patent/EP3235610B1/de
Priority to PCT/KR2015/012483 priority patent/WO2016080786A1/ko
Publication of KR20160059985A publication Critical patent/KR20160059985A/ko
Priority to US15/413,450 priority patent/US9902064B2/en
Application granted granted Critical
Publication of KR101793338B1 publication Critical patent/KR101793338B1/ko

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/068—Actuating means with variable stiffness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
KR1020150162139A 2014-11-19 2015-11-18 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치 KR101793338B1 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2016575487A JP6166853B1 (ja) 2014-11-19 2015-11-19 回転及び併進運動時の出力リンクの剛性を制御する装置
EP15861568.2A EP3235610B1 (de) 2014-11-19 2015-11-19 Vorrichtung zur steuerung der steifheit eines ausgangselements während dreh- und von translationsbewegungen
PCT/KR2015/012483 WO2016080786A1 (ko) 2014-11-19 2015-11-19 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치
US15/413,450 US9902064B2 (en) 2014-11-19 2017-01-24 Apparatus for controlling stiffness of output link in moving mechanism

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR20140161891 2014-11-19
KR1020140161891 2014-11-19

Publications (2)

Publication Number Publication Date
KR20160059985A KR20160059985A (ko) 2016-05-27
KR101793338B1 true KR101793338B1 (ko) 2017-11-02

Family

ID=56106122

Family Applications (2)

Application Number Title Priority Date Filing Date
KR1020150162140A KR101807365B1 (ko) 2014-11-19 2015-11-18 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치
KR1020150162139A KR101793338B1 (ko) 2014-11-19 2015-11-18 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치

Family Applications Before (1)

Application Number Title Priority Date Filing Date
KR1020150162140A KR101807365B1 (ko) 2014-11-19 2015-11-18 회전 및 병진 운동 시의 출력부재의 강성을 제어하는 장치

Country Status (4)

Country Link
US (1) US9902064B2 (de)
EP (1) EP3235610B1 (de)
JP (1) JP6166853B1 (de)
KR (2) KR101807365B1 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6581235B1 (ja) * 2018-03-30 2019-09-25 本田技研工業株式会社 リンク機構
CN115447691B (zh) * 2022-09-01 2023-06-02 南京信息工程大学 一种刚度可变的足端机构

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009034774A (ja) * 2007-08-02 2009-02-19 Tohoku Univ 可変剛性を有する関節機構

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1244940A (en) * 1969-03-31 1971-09-02 Aida Tekkosho Kk An article transfer apparatus
US4659280A (en) * 1985-01-22 1987-04-21 Gmf Robotics Corporation Robot with balancing mechanism having a variable counterbalance force
US5502363A (en) * 1994-01-04 1996-03-26 University Of Maryland-Baltimore County Apparatus for controlling angular positioning and stiffness modulations of joint of robotic manipulator
EP1726412A1 (de) * 2005-05-23 2006-11-29 Vrije Universiteit Brussel Gelenk mit einstellbarer Steifigkeit
WO2009107672A1 (ja) * 2008-02-25 2009-09-03 学校法人東海大学 ロボット安全装置、及びロボット
JP2011083884A (ja) * 2009-10-19 2011-04-28 Yaskawa Electric Corp 可変剛性機構及びロボット
KR101195700B1 (ko) * 2010-04-05 2012-10-29 고려대학교 산학협력단 가변 강성 액츄에이터 유닛
KR101212397B1 (ko) * 2010-08-06 2012-12-13 고려대학교 산학협력단 캠 팔로워 타입 비선형 강성 안전 유니트
TWI419778B (zh) * 2011-03-16 2013-12-21 Ind Tech Res Inst 順應性關節
JP2013148204A (ja) 2012-01-23 2013-08-01 Canon Inc 関節機構
JP2014097548A (ja) 2012-11-15 2014-05-29 Canon Inc 剛性可変機構、剛性可変駆動装置及び関節駆動装置
JP6556697B2 (ja) * 2013-04-24 2019-08-07 マーケット ユニバーシティー 広い剛性範囲を有する可変剛性アクチュエータ

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009034774A (ja) * 2007-08-02 2009-02-19 Tohoku Univ 可変剛性を有する関節機構

Also Published As

Publication number Publication date
JP6166853B1 (ja) 2017-07-19
KR20160059986A (ko) 2016-05-27
JP2017522509A (ja) 2017-08-10
US9902064B2 (en) 2018-02-27
EP3235610B1 (de) 2021-03-17
EP3235610A1 (de) 2017-10-25
US20170129102A1 (en) 2017-05-11
EP3235610A4 (de) 2019-01-16
KR20160059985A (ko) 2016-05-27
KR101807365B1 (ko) 2017-12-08

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